Hysteresis Modeling for Estimation of

State-of-Charge in NiMH Battery

Based on Improved Takacs Model
Novie Ayub Windarko, Jaeho Choi
School of Electrical and Computer Engineering.,
Chungbuk National University, Korea
E-mail: choi@chungbuk.ac.kr

Abstract- This paper describes about the electrical modeling

of NiMH battery to estimate the State-of-Charge (SOC). The
relationship between the SOC and the Open Circuit Voltage
(OCV) has the hysteresis characteristic and it is modeled based
on the Takacs model in this paper. The modeling includes both of
major loop and minor loop. The original Takacs model is
improved with additional polynomial function to approach the
experimental data as similar as possible. To verify the
improvement by using the proposed Takacs model, the results of
the original Takacs model and the improved one for the major
and minor loops are compared. The modeling error in major
loop based on the improved Takacs model is less than 4A. SOC.
In minor loop modeling, the error of modeling is less than 6%
SOC, but there is no significant difference with the improved
Takacs model.
I.

INTRODUCTION

In decades, the increasing of oil prices has motivated the

power electronics engineers to focus on energy efficiency.
One of the methods to increase the energy efficiency in the
area of power utility system is the application of energy
storage systems. Batteries as electrochemical energy storage
systems have become popular for energy efficiency due to
their fast response. So far, many applications have been used
the battery energy storage systems from hundreds watts to
several megawatts. Especially in the microgrid system, the
battery energy storage system plays the main role for the
power quality regulation and energy efficiency. Wind power
and solar power are one of the uncontrollable energy sources
and so the power utility could be adjusted to meet the time
band of demand load and could be kept the efficiency high by
applying the battery energy storage.
The term of State-of-Charge (SOC) is used to determine
the battery capacity. In the energy management system, the
SOC monitoring has the following functions that it could
maintain the battery not to enter the modes of over-charge or
over-discharge. These conditions may lead to the damage of
battery. In some applications, the SOC has to provide the user
any information how long he could use the battery. Such as in
the HEV application, the driver should know the residual
driving distance.
So far, Coulomb counting method is the most popular
method to estimate the SOC. The residual capacity could be
measured by a simple algorithm of the product of the current
and the duration time of charge or discharge. This method may

be more precise when it is considered the temperature and the

charging or discharging efficiencies [1]. On the other hand, it
has some disadvantages as followings: There is no possibility
to estimate the initial SOC and it depends on the precision rate
of sensor. And, by the time, the error is integrated and resulted
in high errors.
The measurement method of Open Circuit Voltage (OCV)
is found as an accurate one to determine the SOC. The OCV
could be measured under no load condition. This method is
very suitable to estimate the initial SOC.
In the battery measurement, there has been used two terms
of voltage generally: Battery Terminal Voltage and OCV. The
terminal voltage is only equals to the OCV when no current
flows and the voltage have relaxed to its equilibrium state [2].
Especially for Li-ion battery, the equilibrium state is reached
after no current flows for more than ten hours. The voltage
after 30 min differs by approximately 15 mV from the voltage
after 600 min [2].
At the present, there are many battery types with their
advantages and disadvantages. NiMH battery is popular one.
NiMH type is reported favorable one by several reasons, such
as high energy density, low prices, non-toxic and safety.
However, the hysteresis phenomenon is strongly appeared in
OCV of NiMH battery [3].
So far, hysteresis modeling is often discussed in magnetic
issue. With similarities of hysteresis characteristic between
battery and magnetic, several modeling methods used in
magnetic system could be adopted for the modeling of
batteries. In paper [4], Preisach model is applied for the
hysteresis modeling of NiMH battery. However this model is
involved the long computation and memory resources. Several
researchers have proposed the hysteresis modeling based on
the mathematical function. Most of the modeling methods
based on the mathematical function involved the magnetic
parameters in its modeling. One of the latest models is Takacs
model [5]. The Takacs model with the several parameters of
hysteresis curve is much simpler. The Takacs model
parameters have no direct physical meaning in magnetic data
experiments. With this reason, Takacs model is suitable for the
hysteresis modeling of battery.
In this paper, a simple NiMH battery model of hysteresis
characteristic has been proposed for SOC estimation based on
Takacs model. Takacs model is provided for both of major and
minor hysteresis loops and the improved one is provided less

error of estimation. By applying the improved Takacs model,

it is more suitable to estimate the SOC by online due to its
simplicity which reduces the computation difficulties .
II. BATTERY MODELING
The capacity of a battery could be described by the product
of the current and the duration of charge or discharge . The
SOC is determined from the previous battery capacity after
subtracting the discharging capacity or adding the charging
capacity. The SOC is expressed as:

SOC/ = SOCo - n -I -t dt

Fig.. 1. Simple battery model.

Rj

(1)

where
SOC/: SOC at time t
SOC o: SOC at starting time
17: discharging or discharging efficiency
I: battery current
t: time
The capacity could be changeable by the temperature. The
efficiency is influenced by the internal resistance and other
aspects such as temperature. Based on this definition in (1),
Coulomb counting method is very convenient although the
precision of modeling is influenced by the several conditions
as described previously.
There have been proposed many battery models. In this
section the advantage and disadvantage of the conventional
battery models are described .

Eo

Fig.2. Thevenin battery model.

Eo

-T_ _
Fig. 3. Resistive Thevenin battery model.

B. Simple Battery Mod el

This model is the most commonly used. As shown in Fig.

1. This model consists of Eo, OCV or Electro Motive Force,
and R, series internal resistance . VI is the battery terminal
voltage. Eo is obtained from the measurement of an open
circuit voltage. Although this model has been commonly used,
it could not cover the varying characteristic of the internal
resistance and OCV with the charging condition of SOC. This
model is only applicable in a simulation where the energy
drawn from the battery is unlimited or the model element is
independent on SOC [6].
C. Thevenin Battery Model [7l

Thevenin battery model is shown in Fig. 2. It consists of Eo,

OCV, RiO' internal resistance , and RC parallel network of CT,
transient capacitance and RT, transient resistance . This added
RC parallel circuit is considered for the prediction of a battery
response to the transient load changes. In another paper [8],
RC parallel circuit is represented for a physical component,
which CT is represented as a parallel plates and RT is
represented as a non-linear resistance contributed from the
contact resistance of the plate of electrolyte. The disadvantage
of this model is that the model elements are assumed to be
constant in any changing condition of battery such as SOC,
temperature , and etc.
D. Resistive Thevenin Battery model

This model has two internal resistant based on discharging

and charging states as shown in Fig. 3. Ric and Rid are

Eo

Fig. 4. Modified battety model.

associated with the internal resistance under the charging

mode and discharging mode, respectively. Both of these
resistances are represented by energy losses which include the
electrical and non-electrical losses. The diodes are implied that
during the charging or discharging mode the only one of the
resistances Ric or Rid could be conducted. In any states of
charging or discharging modes, the conducting diode is
forward biased while another diode is reverse biased. There is
no physical meaning for the diodes without modeling purposes.
This model is not dependent on the SOC.
E. Modified Model

In paper [9], a modified battery model as shown in Fig. 4

has been proposed by the authors. The configuration of the
proposed model is same as the previous resistive Thevenin
battery model, but all of the elements are described as the
function of SOC. The OCV values are different from each
other in the charging and discharging modes. In case of the
charging mode, OCV is higher than that of the discharging
mode.

The model of the charging and discharging modes is

described as in (2), respectively.

= ~(z)-IcR;c(z)
Eo(z) = ~(z)+ IdR;Az)
Eo(z)

1.5

1.45

(2a)

I\.

.......

(2b)

where z is the variable of SOC, and I, and Id are the charging

and discharging currents, respectively. The elements of model,
Eo, V" and R; are obtained from the various currents of L, and
i,

_- .... -

~-

Averaged OCV
1-hr OCY oata aner lC charge
l- hr OCV data aner tC discharge

OCY equatlon

--..,<,

~-

1.25

1.2

III. OPEN CIRCUIT VOLTAGE MODELING

Comparing with another battery types, NiMH type has

much stronger hysteresis characteristic. With this unique
characteristic, several authors have been applied several
approach to develop the model for OCV of NiMH battery.
A. Average OCVfor Charging and Discharging Modes

In paper [10], it is described the application of NiMH

batteries for HEV. The electrical model of battery is based on
Thevenin battery model with SOC dependent. The SOC
monitoring algorithm is based on average OCV during the
charging or discharging mode. In this modeling, major loop
and minor loop is avoided. Between OCV and SOC has a
single relationship. With an algorithm based on a simple
average model, it is reported that HEV could operate at the
culminate efficiency with 80-mile-per-gallon. The black line
in Fig. 5 is the regression line for averaged OCV
B. Preisach Model

The Preisach model has been used widely to estimate the

model of hysteresis in many areas such as smart materials,
sensors, actuators, electric-magnetic relays and transformers,
and etc., but this model involves a complex calculation. In
paper [4], the Preisach model is used for the HEV application.
The continuous Preisach model is modified into a discrete
model which is more suitable for onboard hysteresis
estimation due to the limited computational and memory
sources. It is reported that the error of algorithm within
10%SOC.
IV. HYSTERESIS MODELING FOR OCV
A. Overview on Hysteresis Modeling
A number of mathematical models of hysteresis have been
proposed by many researchers. Langevin proposed the
Langevin function which described the saturation effect for
the hysteretic curve. The equation is shown below:
L(x) = coth(x)-

(3)

10

20

30

40

50

60

70

80

90

Fig. 5. Average OCVforcharge anddischarge [10].

Based on a quantum mechanical approach, Brillouin

modified the Langevin model [11]. Brillouin model is
described by (5).
B(x) = C1 corhrc.x) -c 2 cothtc.x)

(5)

where c. and C2 is constant.

The difference between the Langevin function and the
Brillouin one is so small and the Brillouin function approaches
the Langevin one as a limit when C2 tends to zero.
B. Takacs's Hysteresis Modeling
Takacs model is based on a mathematical function for
hysteresis modeling [5]. Takacs model is followed the several
previous models based on mathematical models such as
Langevin or Brillouin. In Fig. 6, it is shown the properties of
hysteresis with parameter in Takacs's model.
By using this model, major loop and minor loop of
hysteresis curve could be modeled. In Takacs model, major
loop could be divided into two branches, ascending branch
and descending branch. The equations are shown in (6):

=tanh(x-ao)+b.

(6a)

f_(x) = tanh(x+aO)-bl

(6b)

f+(x)

where f, is ascending branch and f. is descending branch, a, is

x when f+(x) =0, and b l is value obtained from (7):

0.8
0.6
0.4

0.2

-0.2
-0.4

The Langevin model leads to the well known Curie law for
paramagnetic susceptibility [11]. Generally, Curie law could
be described by (4).
C(x) =

A( coth ;

- :)

(4)

-0.6
-0.8

-4

-3

-2

-1

Fig. 6. Hysteresis modeling based onTakacs model anditsproperties.

where A and B is constant.

100

Percent State of Discharge

(7)

y
where xmis x at maximum value of fux).
For minor loop, the curve could be described by the
following equation:
f+(x)

= tanh(x-ao)+c u

L (x) = tanh(x + ao) -

(8a)

Y1
o

(8b)

Cd

The expression for Cn and Cd is given as follows:

C
u

=C1

Cd =C 1

tanh(x m - ao) - tanh(x- ao)

tanlux; -ao)-tanh(xr-ao)

(9a)

tanh(-x m +ao)-tanh(x+ao)
tanh(-x m +ao)-tanh(x r +a o)

(9b)

x
Fig. 7. Observed value, Yi andcurve model, ttx;).

The sum of squared residuals is given as:

(12)

(9c)
where x, is the reversal point of minor loop.
However, in naturally, the hysteresis curve obtained from
the experimental data might not fully followed by the Takacs
model. So it is proposed to add an additional polynomial
function to cover any possibilities of a hysteresis characteristic
which is not fully followed by the Takacs model. The
improvement ofthid model is shown in (10):
f+ (x)

=tanh(x -

a o) + b,

f: (x) = tanh(x + ao) -

+ f+r (x)

(10a)

hI + [.; (x)

(10b)

where t;.(x) is an error function between the measurement data

and the original Takacs model. As the motivation to develop a
simple model, it is proposed t;.(x) as a polynomial function
expressed as shown (II):
(11)
where Co. ci, ...cnare the polynomial coefficients.

The residual is defmed as the difference between the value

of the dependent variable and the predicted value from the
estimated model which expressed as:
(13)

D. Scaling Technique
Takacs model is based on a tangent hyperbolic function.
The typical curve is shown in Fig. 8. As shown in Fig. 8, the x
axis could be set from any values and the maximum value of
the y axis is unity. In a battery model, the x axis could be
OCV and the y axis could be SOC. The OCV value is higher
than zero. For single cell NiMH battery, the OCV is
approximated 1.2-1.4V. The SOC value is in the range of
0-100%. The difference between the original Takacs model
and its application for battery model can be solved by scaling.
The scaling technique to solve the different between
original Takacs model and battery modeling is shown in Fig. 8.
V. RESULT

C. Least Square Error Method

The Least Square Error method is described firstly by Carl

Friedrich Gauss around 1794. The method of least squares is
used to solve the overdetermined systems approximately, of
which system equations have more equations than unknowns.
Least squares are often applied in statistical contexts.
Least squares could be interpreted as a method to fit the
data. The best modeling in the least-squares error method
could be reached when the sum of squared residuals has its
least value. The residual is the difference between an observed
value, Yi and the value given by the model, f(Xi)'
By adjusting the parameters of a model function, f(Xi), it
would get the most similar model function to a data set. A
simple data set consists of n points (data pairs) (x., Yi), i = I,
..., n, where Xi is an independent variable and Yi is a dependent
variable whose values are found by observation. The model
function has the form shown in Eqs. (6) and (7). The least
squares method defmes that the similarity is the best when the
sum of squared residuals, S, is minimum .

A.

OCV Measurement
In this experiment, Sebang GMH 100 NiMH Battery rating
of I.2V and 100Ah is used. The experiment is done with the
Batte

Basic Takacs
Model

SOC

ma

Model

----------------_

_-----

Ymax ---------- ;

!;
!

X max

: ------- Ymin

soc.; --------:
;

ocv.;
Fig. 8. Illustration forscaling technique.

OCV max

1,50

---------------

--------------

---------------

,----~---~---~---~--______,

1.' 0

1.' 0 , - - - - - - , - - - - - , - - - - - , - - - - - , - - - - - - ,

1.40

------------

1.20
1.40

......:

1.30

1.20

,,

,,

,
,
,
,

,
,

,,
---------------- ,.----------------,---------------,,
,,,
,,
,
,,
,

-- -------------,---------------

30.00

1,00

0.80

..

0'0

..

!' :

40 .00

50 .00

60 ,00

0 .40 '-----_ _

70.00

.............. ,

30 .00

40 .00

50 .00
T ime

:: .-

,,

--.:-~ ~ :::: :T:::- - . -. --i

..

,,

::T::::::-.. --'r

1.35

--

1.32

,,

,,

.,,

...

,"

1.25
1.22

-----~----

1.20

... - .......

38,00

37 .00

42 .00

4 1.00

40.00

30 .00

43,00

,,

,,

,
,...
,,
,,
.
.
,
.
.................................................
_.,.
.... _

41 .00

Tim e (l<s)

,
,
, __.... _.... , .... _..... -_. _-_......
,,
,,
,
,
,
......................................

1 ------:------------: ------------: ------------, --- -------

1.18 '-----_ _

1.34

~ t .~

1.27

\.

1.38

,,

~ ~ ~ ~ ~ .

1.30
1.40

'.36 ~

80 .00

(Ks)

1.37 ,----~--~--_--_--_-----,
,
,
,

,,

_ _------'

70.00

Fig. 11. OCVmeasurement with 10"10 SOCdischarging step.

v

.,,

60 .00

Time (Ks)

Fig. 9. OCVmeasurement with 10"10 SOCcharging step.

,
,

_.,,, .. _

__

42 .00

,,
,,

.. _

,,,

_.

,
,,

.
----J

43 .00

44 .00

45 .00

47 .00

46 .00

Ti me (Ks)

Fig. 10. Zoom picture ofsquare inFig. 9.

Fig. 12. Zoom picture ofsquare inFig. 11.

charging current of 1C at 30C. The experimental results are

shown in Fig. 9. The battery is charged with lO%SOC step,
and then the battery is open for one hour. The starting point of
a charging process step is indicated with square and the
stopping point is indicated with a triangular as shown in Fig
10.
After one hour in open circuit condition, there is no
significant changing in the battery voltage. The battery voltage
changing after one hour open circuit is approximated ImV or
less. In this condition, it could be assumed that the battery
voltage reaches at the equilibrium state or be assumed that the
battery voltage as OCV . The OCV is obtained at the position
indicated with a circle in Fig 10. The battery is assumed as full
capacity or 100%SOC when the battery voltage reaches at
1.5V.
In Fig. 11, it is shown the OCV measurement for the
discharging process. The experimental condition is same as
the charging process. The starting point and stopping point for

a step discharging process is shown in Fig. 12. The starting

point is indicated with square and the stopping point is
indicated with triangular. As one step of discharging process,
the SOC is reduced to ten percent lower. The empty condition
is recognized by the sharp drop voltage near to the end of
discharge process. Generally, for a single cell NiMH battery,
the empty condition or O%SOC is reached when the battery
voltage reaches at 0.9V in discharge process . In this discharge
process , when the battery voltage is reached less than 0.9V,
the discharge process is stopped to avoid any damage to
battery.

100

00

I
I
I

I
I
I

I
I
I

I
I
I

()
~

40

20

o
1.1

--- T---'----I---- - -

- - -

I
I

I
I

I
I

I
-I- -

I
-I -

--I -

1
1

1
1

1
1

1
1
1

I
I

I
I

I
I

I
-I -

---r-

- -+ - - -

-0- - - - ....
1

1
1

-+

1
1

()
o

I
I

00

1
1

00

1
1
1

20

- - - - ~ - - -~ - - - ~ - - - ~ - - -

1.2

1.25

1.3

1.35

1.4

1.4 5

OGV (V )

Fig. 13. Modeling ofmajor loop based onTakacs model.

1.5

o
1.1

1
1
1
L

1
1
1

1
1
1
I

1
1
1
1
1
1
1

1
1
1
1

1
1
1
1

1
1
1
1

1
1
1

1
1
1

1
1
1

1
1
1

1
1
1

- - -

-- ~--I

~---

1
1
1
~---

I
I
I
I

1
1
1
1

~---~----I---

I
I
I

1
1
1

~ - - -~ - - - -I - - -

1
1
1

I
I
I

I
I
I

1
1
1

--- T--- '----I----

- - -: - - -

-+
I

00

--- T---'--- ~---- r---r---

1---~---

- - :- - - - - - - J -

100

.:
I

---+--1. 15

+- - - ~ - - - -:
1
1
1

: :0

I
I
I

~---~---

-- ~--I

---~---~---- 1----~ 8

Figure 13 shows the OCV vs SOC experiment data and the

modeling result based on the Takacs model. The uniqueness of
OCV in NiMH battery is obvious comparing to another
battery. The OCV between the charging state and the
discharging one is different. Non-linearity of curve is very

--- T--- '--- ~----r--- r-- -

:
00

B. OCV Modeling

1--- ~---

+- - - ~ - - - -:
1
1
1

1
1
1

--- +---

- - - ~ - - - -: - - 1

I
I
I

1
1
1

--I---- ~--- ~---~--- ~---

1. 15

1
1
1

1.2

1.25

1.3

1.35

1.4

1.4 5

OGV (V )

Fig. 14. Modeling ofmaior loop based onimproved Takacs model.

1.5

m inor loop
1 20 ,-----~-~-~--~-~-~--~-,
I
I
I
I
I
I
I
I
--- T--- l-------- ~---r---l--- ~---

100

I
I

00

I
I

I
I

I
I

I
I

--- +--- ~---- I---- ~---~--

I
I

I
I

I
I

I
I

I
I

~ 00 ---+---~----:----~

b'

40

- - -

- - -

I
I

1. 1

I
I

- -t - - - - :- - -

I
I

I
I

I
I
I

I '
I
I

I
I
I

I
I

I
I

I
I

I
I

I
I

--'-1.15

~--I

- - - - :- - -

o ---T---20 ' --

I
I
--- ~---

_ __ J

I_

I
I
~

I
I
I

--I----r---r--- '---,---

----'-1.2

- '1.25

- ' -- - ' - -- - '1.3

1.35

1.4

I
I

- - ' --

-'

1.4 5

1.5

OCV(V)

Fig. 15.Modelingof minorloopbasedon improved Takacsmodel.

serious in 0-20%SOC and 80-100%SOC. Between 20%SOC

and 80%SOC, the curve is lean to be linear.
As shown in Fig. 13, the modeling could be presented
accurately for SOC. By applying the Takacs model described
as in (6), the maximum error is up to 10% in the full range of
O-lOO%SOC. Around the full or empty capacity, the modeling
error could be close to zero.
To reduce the modeling error, the improved Takacs model
described as in (10) is used. The polynomial function is used
to cover the residual error between (6) and experiment data.
The modeling result using (10) is shown in Fig. 14. The error
in this modeling is reduced to less than 4% SOC.
The minor loop of hysteresis is shown in Fig. 15. It
consists of:
- Discharging from 80%SOC to O%SOC
- Discharging from 60%SOC to O%SOC
- Discharging from 40%SOC to O%SOC
- Discharging from 20%SOC to O%SOC
The OCV in minor loop is obtained by a procedure as
same as the previous explanation. The modeling error in minor
loop is less than 6%SOC but there is no significant difference
with the application of the improved Takacs model.

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[l]

Kong Soon Ng, Chin-Sien Moo, Vi-Ping Chen, and Yao-ching Hsieh,
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Appendix
Table 1. Parameters for major loop.
Charg ing mode

Or iginal Takacs
mode I paraneter

In this paper, the electrical modeling for a hysteresis

characteristic of OCV of NiMH battery is proposed. The
modeling is based on the Takacs model but improved with the
additional polynomial functions. The modeling is provided for
both of major and minor loops. By the proposed model, a
simple mathematical model could be given with the
measurement data of open circuit voltage. The modeling error
for major loop is less than 4%SOC and minor loop is less than
6%SOC. This model can be used in any SOC estimation
algorithm of batteries which has the hysteresis characteristic.
ACKNOWLEDGMENT

This research was supported by the MKE (The Ministry of

Knowledge Economy), Korea, under the ITRC (Information
Technology Research Center) support program supervised by
the lITA(Institute for Information Technology Advancement)"
(lITA-2009-C 1090-0904-0007)

Scale :-2.4.$X~.2

a,r1.8 ,
bF400.81 21387e-003,
xnF2
min 1.20SV,
max 1.403V

a,rO. 3,
b,=10 .277758532e-003 ,
xnF2.2
o. min 1.2051/ ,
max 1.403V
1.315.$Xs1 .403
dt~2 . 55568899316082e+003
dt1=-7.01542603433868e+O
dt0=4. 81266304689473e+003
1.296.$Xs1.315
0'Z?-0-51 .823217920938ge+003
d21= 136.401466204330e+003
daF-89.7447602244507e+003
1.205.$Xs1.296
~-3. 49373888793905e+003
d31=8 .61994532792247e+003
1130=-5. 31395291040670e+003

1.370.$Xs1.403
c t 1=2ZJ
ctO=-321

VI. CONCLUSION

Polynomial for
irrprovement

Discharging mode

Scale :-2.sX~

1.313.$Xs1.370
c21=-202 .9383
caF270.6711
1.205.$Xs1 .313
c31=34.8241
c3?=-41 .9630

Table 2. Parameters for minor loop.

Discharge
minor loop

20-0%

40-0%

60-0%

Original
Takacs mode I
Par ameter

Scale:
- 2.35Xs1 .0
x,=l .348V
x,r1.205V
a,rO .3
b,=12e-003

Scale:
-2.3~ 1.2
x,=l .368V
x,r1.205V
a,rO.3
b,=12e-003

Scale:
-2.3~ 1.6
x,=1 .378V
x,r1.205V
a,rO.3
b,=12e-003

80-0%
Scale:
-2. 3~.0

x,=1 .391V
x,r1.205V
a,rO.3
b,=12e-003